void motor_control(){

  float x_value,y_value;
  float x1,x2,y1,y2,motor_left,motor_right;
  float left_pwm,right_pwm;
  int dont_move = 0;
  
  //References from transmitter
  /*XbeeTxBuffer[9] = (map(analogRead(joy_2_x),0,1023,100,0))/4;  //Byte 2
  XbeeTxBuffer[10] = (map(analogRead(joy_2_y),0,1023,100,0))/4; //Byte 3
  XbeeTxBuffer[11] = (map(analogRead(joy_1_x),0,1023,100,0))/4; //Byte 4
  XbeeTxBuffer[12] = (map(analogRead(joy_1_y),0,1023,100,0))/4; //Byte 5*/
  
  if(good_comm == 1){
    
    x_value = RxBuffer[9];
    y_value = RxBuffer[10];
    //left_pwm = ((y_value - 128) * 2) + ((x_value - 128) * 2);
    //right_pwm = ((y_value - 128) * 2) + ((128 - x_value) * 2);
    
    if(x_value >= 124){
      if(x_value <= 132){
        if(y_value >= 124){
          if(y_value <= 132){
             digitalWrite(pwm1, LOW);
             digitalWrite(pwm2, LOW);
             digitalWrite(pwm3, LOW);
             digitalWrite(pwm4, LOW);
             digitalWrite(dir1, LOW);
             digitalWrite(dir2, LOW);
             digitalWrite(dir3, LOW);
             digitalWrite(dir4, LOW);
             dont_move = 1;
          }
        }
      }
    }
  
    if(dont_move == 0){
      left_pwm = ((y_value - 128) * 2) + ((128 - x_value) * 2);
      right_pwm = ((y_value - 128) * 2) + ((x_value - 128) * 2);
      
      
      //FRONT
      if(left_pwm >= 0){
        if(left_pwm >= 255){
          left_pwm = 255;
        }
        digitalWrite(dir1, LOW);
        digitalWrite(dir3, LOW);
        analogWrite(pwm1, left_pwm);
        analogWrite(pwm3, left_pwm);
      }
      
      //FRONT
      if(right_pwm >= 0){
        if(right_pwm >= 255){
          right_pwm = 255;
        }
        digitalWrite(dir2, LOW);
        digitalWrite(dir4, LOW);
        analogWrite(pwm2, right_pwm);
        analogWrite(pwm4, right_pwm);
      }
      
      //REVERSE
      if(left_pwm < 0){
        if(left_pwm <= -255){
          left_pwm = -255;
        }
        left_pwm = -left_pwm;
        digitalWrite(pwm1, LOW);
        digitalWrite(pwm3, LOW);
        analogWrite(dir1, left_pwm);
        analogWrite(dir3, left_pwm);
      }
      
      //REVERSE
      if(right_pwm < 0){
        if(right_pwm <= -255){
          right_pwm = -255;
        }
        right_pwm = -right_pwm;
        digitalWrite(pwm2, LOW);
        digitalWrite(pwm4, LOW);
        analogWrite(dir2, right_pwm);
        analogWrite(dir4, right_pwm);
      }
    
      
    }
  }else{
     digitalWrite(pwm1, LOW);
     digitalWrite(pwm2, LOW);
     digitalWrite(pwm3, LOW);
     digitalWrite(pwm4, LOW);
     digitalWrite(dir1, LOW);
     digitalWrite(dir2, LOW);
     digitalWrite(dir3, LOW);
     digitalWrite(dir4, LOW);
  }//END ELSE
  
  dont_move = 0;
}//END FUNCTION